A force feedback sensor ground self-detection circuit and self-detection method

Abstract

The application provides a force feedback sensor ground self-detection circuit and a self-detection method. The self-detection circuit comprises a power amplifier driving circuit for receiving a ground self-detection excitation signal and driving a torque motor to work according to the ground self-detection excitation signal, a modulation circuit for performing carrier adjustment processing on a weak output signal of a signal generator, a demodulation circuit for recovering an original external excitation signal from the modulated output signal, a correction circuit for correcting the demodulated output, a gain adjustment circuit for adjusting the gain of the corrected output signal and feeding back to the power amplifier driving circuit, an output stage circuit for outputting the gain-adjusted signal, and a sampling circuit for adjusting the closed loop gain of the self-detection circuit. The circuit of the application can directly fly the flight control system power supply, realizes the purpose of ground self-detection using a non-isolated power supply, and solves the problem of high cost of developing a force feedback sensor caused by a traditional self-detection circuit.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of sensor testing, and particularly relates to a ground self-detection circuit and a self-detection method for a force feedback sensor. BACKGROUND

[0002] In order to ensure high safety and reliability of a flight control system, a force feedback sensor matched with the flight control system must have a ground self-detection function before the flight of an airplane, so as to evaluate whether the force feedback sensor can work normally before the flight, and provide a basis for decision-making of the flight control system.

[0003] REFERENCE Figure 1 The traditional ground self-detection mode of the force feedback sensor is that a current signal isolated from a power supply ground is applied to a high end of a torque motor and a low end of the torque motor, a sampling resistor is connected to the low end of the torque motor, an output stage circuit is connected after the sampling resistor, the size of the current signal applied to the torque motor is changed, the size of the current flowing through the sampling resistor is changed, and different voltage values are output by the force feedback sensor during the ground self-detection.

[0004] The principle of the ground self-detection of the force feedback sensor is that a constant external excitation signal is applied to a rebalance loop of the force feedback sensor, the signal can be applied to any position of the rebalance loop in theory, the input and output signals of a signal generator (a measuring element) of the force feedback sensor are extremely weak, and are extremely susceptible to external interference, in order to minimize the interference of the external signal on the rebalance loop and not cause oscillation of the rebalance loop, the force feedback sensor used in the existing flight control system generally superimposes the external excitation on the torque motor (a controlled object) of the rebalance loop. Figure 2 The circuit diagram of the existing power amplifier circuit is shown in the figure, the ground self-detection excitation signal is superimposed on the high and low ends of the torque motor of the sensor after passing through the resistor R4*, in this way, isolation of GND and GND1 is required, that is, GND and GND1 must be independent of each other, therefore, the power supply of the flight control system cannot be directly connected during the ground self-detection, and an additional power supply must be designed, which increases the development cost of the force feedback sensor. SUMMARY

[0005] The application aims at solving the problem of the existing force feedback sensor self-detection circuit and self-detection mode that an external isolation power supply must be connected, the power supply of the flight control system cannot be directly connected, and the development cost of the force feedback sensor is high, and provides a ground self-detection circuit and a self-detection method for a force feedback sensor.

[0006] In order to achieve the above object, the technical solution provided by the application is: a ground self-detection circuit of a force feedback sensor, the force feedback sensor comprising a torque generator and a signal generator, the torque generator having a high end and a low end, the signal generator being used to form an output signal according to a ground self-detection excitation signal transmitted by the torque generator, the ground self-detection circuit comprising a modulation circuit, a demodulation circuit, a correction circuit, a gain adjustment circuit, a power amplifier driving circuit, a sampling circuit and an output stage circuit; wherein the torque generator, the signal generator, the modulation circuit, the demodulation circuit, the correction circuit, the gain adjustment circuit and the power amplifier driving circuit constitute a closed-loop rebalancing loop.

[0007] The power amplifier driving circuit is used to receive the ground self-detection excitation signal and drive the torque generator to work according to the ground self-detection excitation signal.

[0008] The modulation circuit is used to perform carrier adjustment processing on the weak output signal of the signal generator, so as to improve the recognizable degree of the output signal.

[0009] The demodulation circuit is used to recover the original external excitation signal from the modulated output signal.

[0010] The correction circuit is used to correct the demodulated output.

[0011] The gain adjustment circuit is used to perform gain adjustment on the corrected output signal and feed back to the power amplifier driving circuit.

[0012] The output stage circuit is used to output the gain-adjusted signal.

[0013] The sampling circuit is used to adjust the gain of the closed loop formed by the self-detection circuit.

[0014] Further, the sampling point circuit comprises a sampling resistor RL, one end of the sampling resistor RL being connected to the low end of the torque generator and the other end being connected to the ground.

[0015] Further, the power amplifier driving circuit comprises resistors R1, R2, R3, R4*, R5*, R6, R7, R8, R9, R10, R11, a capacitor C1, diodes V1 and V2, transistors V3 and V4, an operational amplifier N1A and an operational amplifier resistor N1B.

[0016] One end of the resistor R13 is connected to the ground, the other end of the resistor R13 is connected to one end of the resistor R12, the other end of the resistor R12 is connected to the output end of the gain adjustment circuit, and the output stage circuit is connected between the resistor R13 and the resistor R12, so as to output the gain-adjusted signal.

[0017] The resistor R4*, the resistor R5* and the capacitor C1 are connected in series, the input end of the resistor R4* is connected to the resistor R12, the output end of the capacitor C1 is connected to the output end of the operational amplifier N1B, and the same-phase input end of the operational amplifier N1B is connected to the ground.

[0018] The resistors R1, R2, R3 are connected in series, the input end of the resistor R1 is provided with a ground self-check signal input port for inputting a ground self-check excitation signal; the inverting input end of the operational amplifier N1B is connected between the resistor R1 and the resistor R2 and between the resistor R5* and the capacitor C1, and the output end of the resistor R3 is connected to the low end of the torque generator;

[0019] The output end of the operational amplifier N1B is connected in series with the resistor R10, and the non-inverting input end of the operational amplifier N1A is connected to the series connection of the resistor R10 and the output end of the operational amplifier N1B; the resistor R11 is connected between the ground and the non-inverting input end of the operational amplifier N1A.

[0020] One end of the resistor R6 is connected to the ground, and the other end is connected to one end of the resistor R7; the other end of the resistor R7 is connected to the high end of the torque generator; the inverting input end of the operational amplifier N1A is connected between the resistor R6 and the resistor R7.

[0021] The output end of the operational amplifier N1A is connected to two parallelly arranged first power drive branches and second power drive branches for providing current drive to the high end and the low end of the torque generator.

[0022] Further, the first power drive branch includes a diode V1, a resistor R8 and a triode V3; one end of the resistor R8 is connected to the positive electrode of the power supply, and the other end is connected to the positive electrode of the diode V1; the negative electrode of the diode V1 is connected to the output end of the operational amplifier N1A; the base of the triode V3 is connected to the positive electrode of the diode V1; the emitter of the triode V3 is connected to the high end of the torque generator; and the collector of the triode V3 is connected to the positive electrode of the power supply.

[0023] The second power drive branch includes a diode V2, a resistor R9 and a triode V4; one end of the resistor R9 is connected to the negative electrode of the power supply, and the other end is connected to the negative electrode of the diode V2; the positive electrode of the diode V2 is connected to the output end of the operational amplifier N1A; the base of the triode V4 is connected to the negative electrode of the diode V2; the emitter of the triode V4 is connected to the high end of the torque generator; and the collector of the triode V4 is connected to the negative electrode of the power supply.

[0024] Further, the triode V3 and the triode V4 include one NPN triode and one PNP triode.

[0025] Further, the resistors R2, R3, R4* and R5* satisfy the condition that R2+R3=R4*+R5*.

[0026] A ground self-check method of a force feedback sensor, which is implemented based on the above-mentioned ground self-check circuit of the force feedback sensor, and the self-check method includes the following steps:

[0027] Step 1: connecting the power supply port of the force feedback sensor to be detected to an external power supply;

[0028] Step 2: input a ground self-check excitation signal, and the ground self-check excitation signal is processed by the ground self-check circuit to obtain a force feedback sensor output signal;

[0029] Step 3: determine whether the force sensor output signal is consistent with a set force sensor output signal size, if yes, it indicates that the self-check function of the force feedback sensor is normal, otherwise, the self-check function of the force feedback sensor is abnormal.

[0030] Further, in the step 1, a power supply port of the force feedback sensor to be detected is connected with a flight control system power supply.

[0031] The present application has the following advantages:

[0032] 1. In the force feedback sensor self-check circuit of the present application, the output stage circuit is connected with the gain adjustment circuit, the ground self-check excitation signal is applied to the torque device of the force feedback sensor through the power amplifier driving circuit, and the ground self-check can be directly performed on the flight control system power supply, so that the purpose of ground self-check using a non-isolated power supply is achieved, and the problem of increasing the development cost of the force feedback sensor due to the additional design of the self-check power supply and the related peripheral self-check power supply circuit is solved.

[0033] 2. In the present application, the ground self-check excitation signal is superimposed on the torque device by designing the element composition and connection relationship of the power amplifier driving circuit, which is composed of the cascade of the operational amplifier and the power driving branch, so as to expand the frequency band of the operational amplifier, improve the dynamic response of the power amplifier driving circuit, and provide a large driving current for the high end and low end of the torque device, thereby improving the reliability of the force feedback sensor.

[0034] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the description of the embodiments, given in conjunction with the following drawings, in which:

[0036] Figure 1 is a traditional force feedback sensor ground self-check principle diagram;

[0037] Figure 2 is a circuit diagram of a power amplifier processing circuit in a traditional force feedback sensor ground self-check circuit;

[0038] Figure 3 is a force feedback sensor self-check principle diagram of the present application;

[0039] Figure 4 is a circuit diagram of a power amplifier driving circuit in a force feedback sensor self-check circuit of the present application. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, which are exemplary and intended to explain the present application, and cannot be understood as a limitation of the present application.

[0041] With reference to Figure 3 The embodiment of the present application provides a force feedback sensor ground self-detection circuit, which comprises a modulation circuit, a demodulation circuit, a correction circuit, a gain adjustment circuit, a power amplifier driving circuit, a sampling circuit and an output stage circuit; the modulation circuit is connected with a signal indicator of the force feedback sensor, and is used for carrier adjustment processing of weak output signals of the signal indicator, so that the output signals of the signal indicator are easy to identify, and the anti-interference ability of the output signals is improved. The demodulation circuit is used for recovering original output signals from the modulated signals. The correction circuit is used for correction processing of the demodulated signals. The gain adjustment circuit is used for gain adjustment of the corrected signals, so as to improve the total gain of the self-detection circuit loop. The power amplifier driving circuit is composed of the cascade of an operational amplifier and power driving, and acts on a torque device of the sensor, and is used for driving the torque device to work according to the ground excitation signal. The sampling circuit is used for adjusting the gain of the feedback end of the closed loop of the self-detection circuit. The ground self-detection signal (external excitation) is superimposed on the power amplifier driving circuit of the ground self-detection circuit by using the principle of the adder. The output stage circuit is connected between the gain adjustment circuit and the power amplifier driving circuit, and is used for outputting the signals after gain adjustment in the self-detection circuit as the output signals of the force feedback sensor.

[0042] The sampling circuit comprises a sampling resistor RL, one end of the sampling resistor RL is connected with the low end of the torque device, and the other end is connected with the ground.

[0043] With reference to Figure 4, the power amplifier driving circuit comprises resistors R1, R2, R3, R4*, R5*, R6, R7, R8, R9, R10, R11, a capacitor C1, a diode V1, a diode V2, a triode V3, a triode V4, an operational amplifier N1A and an operational amplifier N1B. One end of a resistor R13 is grounded, the other end of the resistor R13 is connected to one end of a resistor R12, the other end of the resistor R12 is connected to an output end of a gain adjustment circuit, and an output stage circuit is connected between the resistor R13 and the resistor R12. The resistor R4*, the resistor R5* and the capacitor C1 are connected in series, the input end of the resistor R4* is connected to the resistor R12, the output end of the capacitor C1 is connected to the output end of the operational amplifier N1B, and the non-inverting input end of the operational amplifier N1B is grounded. The resistor R1, the resistor R2 and the resistor R3 are connected in series, the input end of the resistor R1 is set as a ground self-check signal input port, the ground self-check port is used for connecting a ground self-check excitation signal DMZJ, the inverting input end of the operational amplifier N1B is connected between the resistor R1 and the resistor R2, and the output end of the resistor R3 is connected to a low end of a torque generator. The output end of the operational amplifier N1B is connected to the resistor R10 in series, and then the output end of the resistor R10 is connected to the non-inverting input end of the operational amplifier N1A, the resistor R11 is connected between the ground and the non-inverting input end of the operational amplifier N1A in a manner that the two ends of the resistor R11 are respectively connected to the ground and the non-inverting input end of the operational amplifier N1A. One end of a resistor R6 is grounded, the other end of the resistor R6 is connected to one end of a resistor R7, the other end of the resistor R7 is connected to a high end of the torque generator, and the inverting input end of the operational amplifier N1A is connected between the resistor R6 and the resistor R7. The operational amplifier N1A and the operational amplifier N1B are connected in series to expand the frequency band of the operational amplifier and improve the dynamic response of the power amplifier driving circuit.

[0044] The output end of the operational amplifier N1A is connected to two parallelly arranged first power driving branches and second power driving branches, which are used for providing greater current driving for the high end and the low end of the torque generator. The first power driving branch comprises a diode V1, a resistor R8 and a triode V3, one end of the resistor R8 is connected to a positive electrode of a power supply, the other end of the resistor R8 is connected to a positive electrode of the diode V1, a negative electrode of the diode V1 is connected to the output end of the operational amplifier N1A, a base of the triode V3 is connected to the positive electrode of the diode V1, an emitter of the triode V3 is connected to the high end of the torque generator, and a collector of the triode V3 is connected to the positive electrode of the power supply. The second power driving branch comprises a diode V2, a resistor R9 and a triode V4, one end of the resistor R9 is connected to a negative electrode of the power supply, the other end of the resistor R9 is connected to a negative electrode of the diode V2, a positive electrode of the diode V2 is connected to the output end of the operational amplifier N1A, a base of the triode V4 is connected to the negative electrode of the diode V2, an emitter of the triode V4 is connected to the high end of the torque generator, and a collector of the triode V4 is connected to the negative electrode of the power supply. One of the triode V3 and the triode V4 is an NPN triode, and the other is a PNP triode. In the embodiment, the triode V3 is an NPN triode, and the triode V4 is a PNP triode.

[0045] In order to realize the stability of the ground self-checking circuit of the force feedback, R2+R3=R4*+R5* in the embodiment.

[0046] The self-detection process of the ground self-detection circuit of the force feedback sensor is as follows:

[0047] The ground self-detection port inputs a ground self-detection excitation signal DMZJ, and after being processed by the ground self-detection circuit, the output signal of the force sensor is U OUT =(U DMZJ / R1)×(R4*+R5*).

[0048] The force sensor output signal is compared with the set force sensor output signal size, if they are consistent, it indicates that the self-detection function of the force feedback sensor is normal, otherwise, the self-detection function of the force feedback sensor is abnormal.

[0049] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A ground self-detection circuit for a force feedback sensor, wherein the force feedback sensor includes a torque converter and a signal converter, the torque converter having a high-end and a low-end, and the signal converter being used to generate an output signal based on the ground self-detection excitation signal transmitted by the torque converter, characterized in that, The ground self-detection circuit includes a modulation circuit, a demodulation circuit, a correction circuit, a gain adjustment circuit, a power amplifier drive circuit, a sampling circuit, and an output stage circuit; wherein, the torque generator, signal generator, modulation circuit, demodulation circuit, correction circuit, gain adjustment circuit, and power amplifier drive circuit constitute a closed-loop rebalancing circuit. The power amplifier drive circuit is used to receive the ground self-test excitation signal and drive the torque generator to work according to the ground self-test excitation signal; The modulation circuit is used to perform carrier adjustment processing on the weak output signal of the signal device to improve the recognizability of the output signal. The demodulation circuit is used to recover the original external excitation signal from the modulated output signal; The correction circuit is used to correct the demodulated output; The gain adjustment circuit is used to adjust the gain of the corrected output signal and feed it back to the power amplifier drive circuit. The output stage circuit is used to output the signal after gain adjustment; The sampling circuit is used to adjust the gain of the closed loop formed by the self-detection circuit.

2. The ground self-detection circuit for a force feedback sensor according to claim 1, characterized in that, The sampling circuit includes a sampling resistor RL, one end of which is connected to the low end of the torque converter, and the other end is grounded.

3. The ground self-detection circuit for a force feedback sensor according to claim 2, characterized in that, The power amplifier driver circuit includes resistors R1, R2, R3, , R6, R7, R8, R9, R10, R11, capacitor C1, diode V1, diode V2, transistor V3, transistor V4, operational amplifier N1A and operational amplifier resistor N1B; One end of resistor R13 is grounded and the other end is connected to one end of resistor R12. The output end of the gain adjustment circuit is connected to the other end of resistor R12. The output stage circuit is connected between resistor R13 and resistor R12 and outputs the signal after gain adjustment. The resistor ,resistance Capacitor C1 is connected in series, and resistor C1 is connected in series. The input terminal is connected to resistor R12 and capacitor C1. The output terminal is connected to the output terminal of operational amplifier N1B. The non-inverting input terminal of operational amplifier N1B is grounded. Resistors R1, R2, and R3 are connected in series. The input terminal of resistor R1 is configured as a ground self-test signal input port for inputting the ground self-test excitation signal. The inverting input terminal of operational amplifier N1B is connected between resistors R1 and R2, and also between resistors... Between capacitor C1 and resistor R3, the output terminal is connected to the low end of the torque converter; The output terminal of the operational amplifier N1B is connected in series with the resistor R10 and then connected to the non-inverting input terminal of the operational amplifier N1A. The two ends of the resistor R11 are grounded and connected to the non-inverting input terminal of the operational amplifier N1A, respectively. One end of resistor R6 is grounded, and the other end is connected to one end of resistor R7. The other end of resistor R7 is connected to the high end of the torque converter. The inverting input of operational amplifier N1A is connected between resistor R6 and resistor R7. The output of the operational amplifier N1A is connected to two parallel power drive branches, namely the first power drive branch and the second power drive branch, which are used to provide current drive for the high and low ends of the torque converter.

4. The ground self-detection circuit for a force feedback sensor according to claim 3, characterized in that, The first power drive branch includes a diode V1, a resistor R8 and a transistor V3. One end of the resistor R8 is connected to the positive terminal of the power supply, and the other end is connected to the positive terminal of the diode V1. The negative terminal of the diode V1 is connected to the output terminal of the operational amplifier N1A. The base of the transistor V3 is connected to the positive terminal of the diode V1, the emitter of the transistor V3 is connected to the high end of the torque converter, and the collector of the transistor V3 is connected to the positive terminal of the power supply. The second power drive branch includes a diode V2, a resistor R9, and a transistor V4. One end of the resistor R9 is connected to the negative terminal of the power supply, and the other end is connected to the negative terminal of the diode V2. The positive terminal of the diode V2 is connected to the output terminal of the operational amplifier N1A. The base of the transistor V4 is connected to the negative terminal of the diode V2, the emitter of the transistor V4 is connected to the high end of the torque converter, and the collector of the transistor V4 is connected to the negative terminal of the power supply.

5. The ground self-detection circuit for a force feedback sensor according to claim 4, characterized in that, Transistors V3 and V4 include one NPN transistor and one PNP transistor.

6. The ground self-detection circuit for a force feedback sensor according to claim 5, characterized in that, The resistors R2, R3, and The resistance value satisfies: .

7. A method for ground self-detection of a force feedback sensor, characterized in that, Based on the ground self-detection circuit of the force feedback sensor according to any one of claims 1-6, the self-detection method includes the following steps: Step 1: Connect the power port of the force feedback sensor to be tested to an external power source; Step 2: Input the ground self-test excitation signal, which is then conditioned by the ground self-test circuit to obtain the force feedback sensor output signal; Step 3: Determine whether the output signal of the force feedback sensor is consistent with the set output signal magnitude of the force feedback sensor. If they are consistent, it indicates that the self-testing function of the force feedback sensor is normal; otherwise, the self-testing function of the force feedback sensor is abnormal.

8. The ground self-detection method for a force feedback sensor according to claim 7, characterized in that, In step 1, the power port of the force feedback sensor to be tested is connected to the power supply of the flight control system.

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